yolo

RevolveUavcan/Properties/Resources.resx

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+	<!-- 
+		Microsoft ResX Schema
+
+		Version 1.3
+
+		The primary goals of this format is to allow a simple XML format 
+		that is mostly human readable. The generation and parsing of the 
+		various data types are done through the TypeConverter classes 
+		associated with the data types.
+
+		Example:
+
+		... ado.net/XML headers & schema ...
+		<resheader name="resmimetype">text/microsoft-resx</resheader>
+		<resheader name="version">1.3</resheader>
+		<resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+		<resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+		<data name="Name1">this is my long string</data>
+		<data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+		<data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+			[base64 mime encoded serialized .NET Framework object]
+		</data>
+		<data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+			[base64 mime encoded string representing a byte array form of the .NET Framework object]
+		</data>
+
+		There are any number of "resheader" rows that contain simple 
+		name/value pairs.
+
+		Each data row contains a name, and value. The row also contains a 
+		type or mimetype. Type corresponds to a .NET class that support 
+		text/value conversion through the TypeConverter architecture. 
+		Classes that don't support this are serialized and stored with the 
+		mimetype set.
+
+		The mimetype is used for serialized objects, and tells the 
+		ResXResourceReader how to depersist the object. This is currently not 
+		extensible. For a given mimetype the value must be set accordingly:
+
+		Note - application/x-microsoft.net.object.binary.base64 is the format 
+		that the ResXResourceWriter will generate, however the reader can 
+		read any of the formats listed below.
+
+		mimetype: application/x-microsoft.net.object.binary.base64
+		value   : The object must be serialized with 
+			: System.Serialization.Formatters.Binary.BinaryFormatter
+			: and then encoded with base64 encoding.
+
+		mimetype: application/x-microsoft.net.object.soap.base64
+		value   : The object must be serialized with 
+			: System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+			: and then encoded with base64 encoding.
+
+		mimetype: application/x-microsoft.net.object.bytearray.base64
+		value   : The object must be serialized into a byte array 
+			: using a System.ComponentModel.TypeConverter
+			: and then encoded with base64 encoding.
+	-->
+
+	<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+		<xsd:element name="root" msdata:IsDataSet="true">
+			<xsd:complexType>
+				<xsd:choice maxOccurs="unbounded">
+					<xsd:element name="data">
+						<xsd:complexType>
+							<xsd:sequence>
+								<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+								<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+							</xsd:sequence>
+							<xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
+							<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+							<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+						</xsd:complexType>
+					</xsd:element>
+					<xsd:element name="resheader">
+						<xsd:complexType>
+							<xsd:sequence>
+								<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+							</xsd:sequence>
+							<xsd:attribute name="name" type="xsd:string" use="required" />
+						</xsd:complexType>
+					</xsd:element>
+				</xsd:choice>
+			</xsd:complexType>
+		</xsd:element>
+	</xsd:schema>
+	<resheader name="resmimetype">
+		<value>text/microsoft-resx</value>
+	</resheader>
+	<resheader name="version">
+		<value>1.3</value>
+	</resheader>
+	<resheader name="reader">
+		<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.3500.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+	</resheader>
+	<resheader name="writer">
+		<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.3500.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+	</resheader>
+</root>

RevolveUavcan/Properties/launchSettings.json

@@ -1,7 +1,9 @@
 {
   "profiles": {
     "Profile 1": {
-      "commandName": "Executable"
+      "commandName": "Executable",
+      "executablePath": "C:\\Users\\Alice Madama\\RevolveUavcan\\RevolveUavcan.sln",
+      "workingDirectory": "C:\\Users\\Alice Madama\\RevolveUavcan"
     }
   }
 }

RevolveUavcan/RevolveUavcan.csproj

@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
     <TargetFramework>net6.0</TargetFramework>
@@ -38,4 +38,19 @@
     <PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="5.0.0" />
   </ItemGroup>
 
+  <ItemGroup>
+    <Compile Update="Properties\Resources.Designer.cs">
+      <DesignTime>True</DesignTime>
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
+  </ItemGroup>
+
+  <ItemGroup>
+    <EmbeddedResource Update="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+    </EmbeddedResource>
+  </ItemGroup>
+
 </Project>

RevolveUavcan/Tools/BitArrayTools.cs

@@ -166,10 +166,10 @@ public static double GetFloatFromBitArray(this BitArray dataBits)
             byte[] bytes = new byte[dataBits.Length / 8];
 
             dataBits.CopyTo(bytes, 0);
-            
-            if(dataBits.Length == 16)
-                return (double) BitConverter.ToHalf(bytes, 0);
-            else if(dataBits.Length == 32)
+
+            if (dataBits.Length == 16)
+                return (double)BitConverter.ToHalf(bytes, 0);
+            else if (dataBits.Length == 32)
                 return BitConverter.ToSingle(bytes, 0);
             else
                 return BitConverter.ToDouble(bytes, 0);
@@ -230,7 +230,24 @@ public static BitArray GetBitArrayFromUInt(uint value, int size)
 
         public static BitArray GetBitArrayFromDouble(double value, int size)
         {
-            var bytes = size == 64 ? BitConverter.GetBytes(value) : BitConverter.GetBytes((float)value);
+            byte[] bytes;
+            if (size == 64)
+            {
+                bytes = BitConverter.GetBytes(value);
+            }
+            else if (size == 32)
+            {
+                bytes = BitConverter.GetBytes((float)value);
+            }
+            else if (size == 16)
+            {
+                bytes = BitConverter.GetBytes((Half)value);
+            }
+            else
+            {
+                throw new ArgumentException("Unsupported bit length; must be 16, 32, or 64 bits.");
+            }
+
             if (!BitConverter.IsLittleEndian)
             {
                 Array.Reverse(bytes);